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1 I am faced with an optimal control problem in continuous time which includes a path constraint which involves controls at two distinct points in time. I do not know how to approach this problem. I do not even know what to search for, since I am not sure about the correct terminology regarding the constraint. I would be happy about any type of input regarding how to approach this problem, as well as for references or terminology. Here is more detail: Let $mathbf{x}(t)inmathbb{R}^{n}$ be the state and $mathbf{u}(t)inmathbb{R}^{m}$ the control, $t_{0}$ the initial time and $t_{f}$ the final time. The goal is to minimize $$ int_{t_{0}}^{t_{f}}fleft(mathbf{x}(t)right)dt $$ subject to laws of motion $$ dot{mathbf{x}}(t)=g(mathbf{x}(t),mathbf{u}(t)) $$ an integral constraint $$ int_{t_{0}}^{t_{f}}hleft...